By Topic

Analysis of the disturbance rejection ability of a passive dynamic walker with hip spring

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mingguo Zhao ; Dept. of Autom., Tsinghua Univ., Beijing, China ; Biao Hu

In numerous passive dynamic walking experiments, we found a spring added between walker's two legs increase its walking success rate dramatically. To explore the inherent nature of this phenomenon, we make a simulation comparison between the method to add hip springs and the method to change leg mass center position and foot radius, on the extent how much walking disturbance rejection ability can be improved. We find that the hip springs placed between leg's center of mass have an enlarged basin of attraction of the walking cycle as well as a strengthened walking ability on irregular slope. Further, parameters study is performed by simulating the influence of hip spring, mass distribution and foot radius on the walker's disturbance rejection ability. The results show that hip springs can increase the walker's disturbance rejection ability while keeping the existence of stable equilibrium state unchanged, and arc foot can only obtain the same performance when the radius ia large, and the mass center position has little contribution to the disturbance rejection ability.

Published in:

Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on

Date of Conference:

11-14 Dec. 2012